version: 66.04
glider: 146
mission: 4
dive: 117
start: 5 28 109 6 15 8
data:
$ID,146
$MISSION,4
$DIVE,117
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,260
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29859.67
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3070
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1720
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2956
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.46645
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042941761
$SEABIRD_T_H,0.00062839256
$SEABIRD_T_I,2.3269764e-05
$SEABIRD_T_J,2.4407245e-06
$SEABIRD_C_G,-10.083902
$SEABIRD_C_H,1.128369
$SEABIRD_C_I,-0.0012433155
$SEABIRD_C_J,0.00018910144
$GPS1,060831,2254.980,-15741.239,36,2.0,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.2
$GPS2,061414,2254.980,-15741.174,14,1.2,14,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,0.223
$KALMAN_X,-36435.9,207.3,-69.8,83413.9,255.2
$KALMAN_Y,-98480.7,91.8,-904.0,227020.7,1007.5
$MHEAD_RNG_PITCHd_Wd,326.0,5768,-14.7,-8.333
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-145.9,0.0,0.0,0,106,0.00,0.00,-85.57,0.000,2,0.000,0.000,473,1794,3315
$GC,110,-1.10,-146.0,3.3,-3.7,11,136,13.15,2.08,-4.35,0.000,4,0.180,0.030,2824,3134,3553
$GC,151,-1.10,-146.0,18.0,-32.0,16,160,0.00,2.33,0.00,0.000,6,0.000,0.038,2824,1719,3553
$GC,420,-1.10,-146.0,53.6,-12.3,48,424,0.00,2.35,0.00,0.000,4,0.000,0.056,2824,319,3554
$GC,441,-1.10,-146.0,56.2,-12.6,49,444,0.00,2.12,0.00,0.000,6,0.000,0.015,2824,1741,3554
$GC,711,-1.10,-146.0,88.3,-11.7,74,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1754,3555
$GC,975,-1.10,-146.0,118.9,-11.4,99,978,0.00,2.08,0.00,0.000,4,0.000,0.030,2825,3096,3555
$GC,1022,-1.10,-146.0,124.3,-10.4,103,1026,0.00,2.20,0.00,0.000,6,0.000,0.035,2824,1713,3555
$GC,1290,-1.10,-146.0,155.7,-11.6,128,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1712,3556
$GC,1544,-1.10,-146.0,185.6,-11.3,152,1548,0.00,2.35,0.00,0.000,4,0.000,0.061,2824,318,3556
$GC,1566,-1.10,-146.0,188.4,-12.5,153,1572,0.00,2.10,0.00,0.000,6,0.000,0.020,2824,1737,3555
$GC,1841,-1.10,-146.0,217.5,-10.7,168,1845,0.00,2.08,0.00,0.000,4,0.000,0.027,2824,3084,3556
$GC,1863,-1.10,-146.0,219.9,-10.7,168,1867,0.00,2.17,0.00,0.000,6,0.000,0.030,2824,1723,3556
$GC,2124,-1.10,-146.0,246.2,-10.1,175,2128,0.00,2.40,0.00,0.000,4,0.000,0.072,2824,320,3556
$GC,2146,-1.10,-146.0,248.5,-10.0,175,2150,0.00,2.08,0.00,0.000,6,0.000,0.019,2824,1694,3556
$GC,2408,-1.10,-146.0,273.7,-9.7,182,2412,0.00,2.28,0.00,0.000,4,0.000,0.034,2824,3123,3556
$GC,2430,-1.10,-146.0,275.8,-9.1,182,2434,0.00,2.28,0.00,0.000,6,0.000,0.035,2824,1722,3556
$GC,2686,-1.10,-146.0,299.5,-9.3,189,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1722,3555
$GC,2930,-1.10,-146.0,321.1,-9.0,195,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1722,3554
$GC,3173,-1.10,-146.0,344.3,-9.5,201,3177,0.00,2.28,0.00,0.000,4,0.000,0.044,2824,3112,3553
$GC,3223,-1.10,-146.0,348.8,-8.4,202,3227,0.00,2.33,0.00,0.000,6,0.000,0.048,2824,1720,3553
$GC,3495,-1.10,-146.0,370.6,-7.9,209,3500,0.00,2.55,0.00,0.000,4,0.000,0.100,2824,311,3552
$GC,3513,-1.10,-146.0,372.1,-7.6,209,3517,0.00,2.20,0.00,0.000,6,0.000,0.034,2824,1699,3552
$GC,3774,-1.10,-146.0,391.2,-7.1,216,3778,0.00,2.38,0.00,0.000,4,0.000,0.052,2824,3137,3550
$GC,3837,-1.10,-146.0,395.3,-6.3,217,3841,0.00,2.40,0.00,0.000,6,0.000,0.054,2824,1719,3550
$GC,4105,-1.10,-146.0,414.5,-7.5,224,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1718,3548
$GC,4348,-1.10,-146.0,433.4,-7.7,230,4352,0.00,2.35,0.00,0.000,4,0.000,0.047,2824,3137,3547
$GC,4398,-1.10,-146.0,437.3,-7.7,231,4403,0.00,2.42,0.00,0.000,6,0.000,0.063,2824,1714,3547
$GC,4672,-1.10,-146.0,458.2,-7.8,238,4676,0.00,2.35,0.00,0.000,4,0.000,0.050,2824,3126,3546
$GC,4695,-1.10,-146.0,460.0,-7.6,238,4699,0.00,2.40,0.00,0.000,6,0.000,0.064,2824,1722,3545
$GC,4956,-1.10,-146.0,479.3,-7.4,245,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1722,3543
$GC,5200,-1.10,-146.0,497.9,-7.6,251,5204,0.00,2.38,0.00,0.000,4,0.000,0.055,2824,3128,3542
$STATE,5224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5224,begin apogee
$GC,5235,-0.31,0.0,500.2,8.1,251,5358,0.73,0.00,120.05,0.932,6,0.068,0.000,2998,1827,2956
$STATE,5359,end apogee,CONTROL_FINISHED_OK
$STATE,5359,begin climb
$GC,5362,1.10,146.0,504.1,0.0,254,5490,1.27,0.00,123.95,0.907,6,0.046,0.000,3314,1827,2360
$GC,5732,1.10,146.0,487.2,8.4,263,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1827,2350
$GC,5972,1.10,146.0,466.6,8.4,269,5976,0.00,2.38,0.00,0.000,4,0.000,0.048,3314,3240,2348
$GC,6017,1.10,146.0,462.6,8.9,270,6021,0.00,2.42,0.00,0.000,6,0.000,0.057,3313,1830,2346
$GC,6295,1.11,153.8,440.0,8.0,277,6305,0.00,2.33,5.30,0.668,4,0.000,0.038,3314,3242,2329
$GC,6380,1.11,153.8,432.8,8.6,279,6384,0.00,2.40,0.00,0.000,6,0.000,0.052,3314,1829,2328
$GC,6664,1.11,153.8,408.0,8.8,286,6668,0.00,2.33,0.00,0.000,4,0.000,0.041,3313,3251,2326
$GC,6731,1.11,153.8,401.5,9.8,287,6736,0.00,2.40,0.00,0.000,6,0.000,0.054,3314,1827,2326
$GC,6988,1.11,153.8,379.3,8.6,294,6992,0.00,2.30,0.00,0.000,4,0.000,0.039,3314,3244,2324
$GC,7056,1.11,159.7,373.6,8.1,295,7067,0.00,2.38,6.15,0.695,6,0.000,0.046,3314,1829,2305
$GC,7311,1.12,163.2,352.9,8.2,301,7318,0.00,0.00,4.90,0.626,6,0.000,0.000,3314,1829,2290
$GC,7555,1.12,163.2,331.3,8.9,307,7559,0.00,2.30,0.00,0.000,4,0.000,0.035,3314,3257,2288
$GC,7578,1.13,169.9,329.4,8.1,307,7594,0.00,2.38,7.65,0.718,6,0.000,0.044,3314,1823,2261
$GC,7839,1.13,172.4,307.9,8.2,314,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1823,2260
$GC,8082,1.18,210.1,290.4,6.9,320,8122,0.00,0.00,36.45,0.792,6,0.000,0.000,3314,1823,2098
$GC,8367,1.18,211.7,268.2,8.3,327,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1823,2093
$GC,8609,1.18,211.7,245.6,9.4,333,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1823,2092
$GC,8853,1.18,211.7,221.6,10.1,339,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1823,2091
$GC,9097,1.18,211.7,200.3,8.5,345,9101,0.00,2.40,0.00,0.000,4,0.000,0.069,3314,421,2091
$GC,9132,1.18,211.7,197.4,8.9,345,9138,0.00,2.22,0.00,0.000,6,0.000,0.018,3314,1868,2090
$GC,9394,1.24,264.4,179.0,6.3,370,9446,0.12,0.00,47.12,0.693,6,0.062,0.000,3349,1870,1877
$GC,9705,1.24,264.4,150.4,9.9,399,9709,0.00,2.47,0.00,0.000,4,0.000,0.062,3349,417,1872
$GC,9749,1.24,264.4,144.4,12.2,402,9755,0.00,2.20,0.00,0.000,6,0.000,0.019,3349,1828,1870
$GC,10013,1.24,264.4,115.6,11.0,427,10017,0.00,2.40,0.00,0.000,4,0.000,0.060,3349,411,1870
$GC,10035,1.24,264.4,112.7,12.0,428,10043,0.00,2.20,0.00,0.000,6,0.000,0.019,3349,1830,1869
$GC,10299,1.24,264.4,83.4,11.3,453,10302,0.00,2.20,0.00,0.000,4,0.000,0.026,3349,3223,1869
$GC,10327,1.24,264.4,79.7,11.8,455,10333,0.00,2.30,0.00,0.000,6,0.000,0.040,3349,1824,1868
$GC,10591,1.24,264.4,50.0,10.8,480,10596,0.00,2.35,0.00,0.000,4,0.000,0.063,3349,426,1868
$GC,10656,1.24,264.4,42.0,13.1,485,10659,0.00,2.15,0.00,0.000,6,0.000,0.017,3349,1841,1869
$GC,10926,1.24,264.4,14.3,8.7,523,10935,0.00,2.17,0.00,0.000,4,0.000,0.031,3349,3215,1869
$GC,10946,1.24,264.4,12.6,8.5,525,10954,0.00,2.28,0.00,0.000,6,0.000,0.041,3349,1826,1869
$STATE,11042,end climb,SURFACE_DEPTH_REACHED
$STATE,11042,begin surface coast
$FINISH,0.6,1.009283
$STATE,11077,end surface coast,CONTROL_FINISHED_OK
$STATE,11079,begin surface
$SM_CCo,11104,125.80,0.530,0,0,1243,420.20
$SM_GC,1.13,0.00,0.00,125.80,0.000,0.000,0.530,473,1702,1243,-11.95,-0.51,420.20
$IRIDIUM_FIX,2246.36,-15743.68,220898,020229
$TT8_MAMPS,0.026078
$HUMID,1527
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,21.60
$XPDR_PINGS,76
$24V_AH,23.6,17.834
$10V_AH,10.7,15.390
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.900,110.300,351.575,125.800,0.000,29.798,26.768,151.140,19.000,0.000,0.000,15.600,1051.007,7582.038,570.046,1849.195,525.326,33.374,1276.324,0.000,1854.820,0.000,0.535,0.000
$DEVICE_MAMPS,180.245,100.477,931.905,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.279,292.759,413.199,550.263,1158.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41306,548
$CAP_FILE_SIZE,91643,0
$CFSIZE,260165632,224059392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280509,092313,2256.562,-15741.653,8,1.7,12,10.1